Distributed intelligent robotics : research & development in fault-tolerant control and size/position identification : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Computer Systems Engineering at Massey University

This thesis presents research conducted on aspects of intelligent robotic systems. In the past two decades, robotics has become one of the most rapidly expanding and developing fields of science. Robotics can be considered as the science of using artificial intelligence in the physical world. Many areas of study exist in robotics. Among these, two fields that are of paramount importance in real world applications are fault tolerance, and sensory systems. Fault tolerance is necessary since a robot in the real world could encounter internal faults, and may also have to continue functioning under adverse conditions. Sensory mechanisms are essential since a robot will possess little intelligence if it does not have methods of acquiring information about its environment. Both these fields are researched in this thesis. In particular, emphasis is placed on distributed intelligent autonomous systems. Experiments and simulations have been conducted to investigate design for fault tolerance. A suitable platform was also chosen for an implementation of a visual system, as an example of a working sensory mechanism

Tactical Acts from Lockdown Homes

The COVID 19 lockdown brought work home. As design researchers our interest has been in the socio-material changes which the pandemic lockdown, as a top down strategy has brought to the domestic realm. Using an online response gathering tool we undertook an inquiry with 31 different households from around the world. Analyzing this data, we present 7 inter-connected activity categories performed by people as they merged and separated their professional work and domestic living within their homes. From within these categories we note particular activities let people overcome the pressures of merging professional work and domestic living. We see these activities to be tactically emerging from specific characteristics of the domestic realm. Targeting innovation specialists, product designers, architects and service designers we seek the potential for amplifying such tactical characteristics when designing for working from home futures

Implicit Finite Difference Method for Pricing of Derivatives

Parabolic partial differential equation arise in pricing of financial derivatives. Numerical methods such as finite difference methods and monte carlo methods are used to approximate solution of this equation. In this talk, the pricing of the derivatives using the implicit method will be discussed

Channel estimation for double IRS assisted broadband single-user SISO communication

In this paper, two Intelligent reflecting surfaces (double IRS) assisted single-user single input single output (SISO) communication system is considered. The cascaded channels (mobile user (MU)$\rightarrow$IRS-1$\rightarrow$base station (BS), MU$\rightarrow$IRS-2$\rightarrow$BS and MU$\rightarrow$IRS-1$\rightarrow$IRS-2$\rightarrow$BS channels) are estimated under Bayesian setting. Here, the goal is to evaluate the performance of the estimator in case of MU$\rightarrow$IRS-1$\rightarrow$BS and MU$\rightarrow$IRS-2$\rightarrow$BS channel links using Bayesian Cramer-Rao lower bound (CRLB). Without the knowledge of closed form pdf of inner product of circularly symmetric complex Gaussian (CSCG) random vectors, we cannot obtain the fisher information. Hence, by numerical computation we obtain the Bayesian CRLB. In the simulation results, we show that we can approximate the pdf of the inner product of CSCG random vectors by a Rayleigh distribution by increasing the number of elements on the IRS, which is analogous to Central Limit Theorem (CLT). Also, the results convey that the mean squared error (MSE) almost matches with the Bayesian CRLB

Detection algorithms for the Nano nose

The Nano nose is an instrument with an array of nano sized optical sensors that produces digital patterns when exposed to radiation passing through a gaseous mixture. The digital patterns correspond to the amount of photocurrent registered on each of the sensors. The problem is to find the gas constituents in the gaseous mixture and estimate their concentrations. This thesis outlines an algorithm using a combination of a mixed gas detector and a gas concentration predictor. The mixed gas detector is an array of neural networks corresponding to the number of gases. There are two techniques outlined for the implementation of the gas concentration predictor which are the partial least squares regression (PLS) and the Kalman filter. The output of the developed algorithm would not only show the detection of the individual constituents in the gaseous mixture but also provide the prediction of their concentrations. The algorithm designed is entirely re-configurable providing greater amount of flexibility and has detected the constituents along with the prediction of their concentrations of a mixture of three gases

A CLINICAL STUDY TO EVALUATE THE EFFECT OF GUDUCHI SIDDA KSHEERA BASTI IN OSTEOPOROSIS

Osteoporosis is the commonest form of metabolic bone disease and is a major public health problem. Osteoporosis is a condition characterized by reduced bone strength, which is prevalent more among post menopausal women. It also occurs in men and women with major risk factors associated with bone demineralizationor decrease in the absolute amount of bone.This condition can be coined as Asthikshaya. Vata is one of the important causative factors for Asthikshaya by its Ashraya Ashrayi Bhava. In Ayurveda, treatment of Asthigata Vikaras is explained as Basti with Ksheera and Ghritha processed with Tiktaka Dravyas. Drugs used in this study are Tikta Rasa Pradhana Guduchi which is having Rasayana property and so is useful in the degenerative conditions as in Asthikshaya. To assess the effect of Guduchi Ksheera Basti in Asthikshaya or osteoporosis, the study was undertaken.Total of 30 patients who were diagnosed to be osteoporotic on BMD test (bone mineral density), were taken in to a single group. Guduchi Ksheera Basti was given for duration of 15 days and follow up was done after one month and BMD test was done to see improvement. Treatment was more effective in subjective parameters like Asthi Toda, Sparsha Asahyata and moderately effective in objective parameters of BMD t -score